Robot hand

ABSTRACT

A robot hand is provided. The robot hand includes a first and second drive gears rotated by first actuator and second actuators; a first interlocked gear interlocked with the second drive gear to rotate in opposite directions; a second interlocked gear interlocked with the first drive gear to rotate in opposite directions; a first inner link engaged with rotation of the first drive gear; a first outer link engaged with rotation of the first interlocked gear; a first end link connected to the first inner link and the first outer link opposite the first actuator; a second inner link engaged with rotation of the second interlocked gear; a second outer link engaged with rotation of the second drive gear; and a second end link connected to the second inner link and the second outer link opposite the second actuator.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a bypass continuation of PCT InternationalApplication No. PCT/KR2021/019014, filed on Dec. 14, 2021, which isbased on and claims priority to Japanese Patent Application No.2020-215129, filed on Dec. 24, 2020, in the Japan Patent Office, thedisclosure of which is incorporated by reference herein in its entirety.

BACKGROUND 1. Field

The disclosure relates to a robot hand.

2. Discussion of Related Art

A related robot hand includes a mechanism in which a gear on a firstside operates two links on the first side, and a gear on a second sideoperates two links on the second side. However, the mechanism works tomake the two links on the first side and the two links on the secondside always operate in synchronization. Hence, the mechanism is unableto open or close the two links on the first side and the two links onthe second side while synchronizing a link which connects the two linkson the first side with a link connecting the two links on the secondside.

SUMMARY

In accordance with an aspect to the disclosure, a robot hand is able toopen or close two links on one side and two links on the other sidewhile synchronously operating a link connecting the two links on the oneside and a link connecting the two links on the other side.

In accordance with an aspect of the disclosure, a robot hand includes: afirst drive gear on a first side configured to be rotated by a firstactuator on the first side; a second drive gear on a second sideconfigured to be rotated by a second actuator on the second side; afirst interlocked gear on the first side interlocked with the seconddrive gear so that the first interlocked gear and the second drive gearrotate in opposite directions; a second interlocked gear on the secondside interlocked with the first drive gear so that the secondinterlocked gear and the first drive gear rotate in opposite directions;a first inner link on the first side engaged with rotation of the firstdrive gear; a first outer link on the first side engaged with rotationof the first interlocked gear; a first end link on the first sideconnected to the first inner link and the first outer link opposite thefirst actuator; a second inner link on the second side engaged withrotation of the second interlocked gear; a second outer link on thesecond side engaged with rotation of the second drive gear; and a secondend link on the second side connected to the second inner link and thesecond outer link opposite the second actuator.

The robot hand may further include a controller configured to: controlthe first inner link, the second inner link, the first outer link andthe second outer link to perform an opening or closing operation bysimultaneously operating the first actuator and the second actuator; andcontrol the first outer link, the second outer link, the first end linkand the second end link to be synchronously operated by deactivating thefirst actuator and actuating the second actuator.

The robot hand may further include a first finger portion on the firstside connected to the first end link.

The first finger portion may extend away from the first inner link andthe first outer link and be configured to bend inward toward the firstinner link.

The first finger portion may include a stopper configured to grip anobject.

The robot hand may further include a second finger portion on the secondside connected to the second end link.

The second finger portion may include a blower configured to blow airtowards an object fastened by the first finger portion.

The robot hand may further include a clipper arranged between the firstfinger portion and the second finger portion.

The second finger portion may be shorter than the first finger portion.

The robot hand may further include: a first adsorption portion on thefirst side arranged on the first finger portion; and a second adsorptionportion on the second side arranged on the second finger portion.

The robot hand may further include a third adsorption portion arrangedbetween the first finger portion and the second finger portion.

The robot hand may further include: any one or any combination of afirst finger portion on the first side connected to the first end linkor a second finger portion on the second side connected to the secondend link; and any one or any combination of a first adsorption portionarranged on the first finger portion, a second adsorption portionarranged on the second finger portion, and a third adsorption portionarranged between the first finger portion and the second finger portion.

The robot hand may further include a controller configured to: recognizean object; identify whether a finger gripping method is stored in amemory in association with the object; control the first finger portionto grip the object when the finger gripping method is stored in thememory in association with the object; identify whether an adsorptiongripping method is stored in the memory in association with the object;and control the first adsorption portion to grip the object when theadsorption gripping method is stored in the memory in association withthe object.

The controller may be configured to: identify whether a combinationgripping method is stored in the memory in association with the object;and control any one or any combination of the first finger portion orthe second finger portion to grip the object in combination with any oneor any combination of the first adsorption portion or the secondadsorption portion when the combination gripping method is stored in thememory in association with the object.

The controller may be configured to: identify a gripping method is notstored in the memory in association with the object; control any one orany combination of an operation to grip the object with the first fingerportion or an operation to grip the object with the first adsorptionportion based on no method of gripping the object being stored in thememory in association with the object; register the finger grippingmethod in association with the object in the memory based on theoperation to grip the object with the first finger portion beingsuccessful; and register the adsorption gripping method in associationwith the object in the memory based on the operation to grip the objectwith the first adsorption portion being successful.

In accordance with an aspect of the disclosure, a method of controllinga robot hand that includes a first actuator coupled to a first drivegear, a second actuator coupled to a second drive gear, a firstinterlocked gear interlocked with the second drive gear, and a secondinterlocked gear interlocked with the first drive gear is provided. Themethod includes: identifying a first object; positioning the robot handwith respect to the first object; controlling a first inner link coupledto the first drive gear, a second inner link coupled to the second drivegear, a first outer link coupled to the first interlocked gear and asecond outer link coupled to the second interlocked gear to perform aclosing operation with respect to the first object by simultaneouslyoperating the first actuator and the second actuator; and controlling afirst end link connected to the first inner link and the first outerlink, and a second end link connected to the second inner link and thesecond outer link, to be synchronously operated to grip the first objectby deactivating the first actuator and actuating the second actuator.

A first adsorption portion may be provided on a first finger portionconnected to the first inner link and the first outer link, and a secondadsorption portion may be provided on a second finger portion connectedto the second inner link and the second outer link. The method mayfurther include: identifying a second object; positioning the robot handwith respect to the second object; identifying a finger gripping methodis not associated with the second object; identifying an adsorptiongripping method is associated with the second object; and controllingthe first adsorption portion and the second adsorption portion to gripthe second object based on the adsorption gripping method beingassociated with the second object.

The method may further include: identifying a third object; positioningthe robot hand with respect to the third object; identifying the fingergripping method is not associated with the third object; identifying theadsorption gripping method is not associated with the third object;identifying a combination gripping method is associated with the thirdobject; and controlling the first end link and the second end link to besynchronously operated to grip the third object by deactivating thefirst actuator, actuating the second actuator, and activating the firstadsorption portion and the second adsorption portion, based on thecombination gripping method being associated with the third object.

The method may further include: identifying a fourth object; positioningthe robot hand with respect to the fourth object; identifying the fingergripping method is not associated with the fourth object; identifyingthe adsorption gripping method is not associated with the fourth object;identifying the combination gripping method is not associated with thefourth object; controlling the first end link and the second end link tobe synchronously operated to grip the fourth object by deactivating thefirst actuator and actuating the second actuator; and associating thefourth object with the finger gripping method based on the first endlink and the second end link gripping the fourth object.

The method may further include: identifying a fifth object; positioningthe robot hand with respect to the fifth object; identifying the fingergripping method is not associated with the fifth object; identifying theadsorption gripping method is not associated with the fifth object;identifying the combination gripping method is not associated with thefifth object; first attempting to grip the fifth object by controllingthe first end link and the second end link to be synchronously operatedto by deactivating the first actuator and actuating the second actuator;and identifying the first attempting as unsuccessful; second attemptingto grip the fifth object by controlling the first adsorption portion andthe second adsorption portion to grip the fifth object; and associatingthe fifth object with the adsorption gripping method based on the firstadsorption portion and the second adsorption portion gripping the fifthobject.

In accordance with an aspect of the disclosure, a non-transitorycomputer readable recording medium having embodied thereon a program,which when executed by a processor causes the processor to execute amethod that controls a robot hand that includes a first actuator coupledto a first drive gear, a second actuator coupled to a second drive gear,a first interlocked gear interlocked with the second drive gear, and asecond interlocked gear interlocked with the first drive gear, isprovided. The method includes: identifying a first object; positioningthe robot hand with respect to the first object; controlling a firstinner link coupled to the first drive gear, a second inner link coupledto the second drive gear, a first outer link coupled to the firstinterlocked gear and a second outer link coupled to the secondinterlocked gear to perform a closing operation with respect to thefirst object by simultaneously operating the first actuator and thesecond actuator; and controlling a first end link connected to the firstinner link and the first outer link, and a second end link connected tothe second inner link and the second outer link, to be synchronouslyoperated to grip the first object by deactivating the first actuator andactuating the second actuator.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and other aspects, features and advantages of certainembodiments will become more apparent from the following descriptiontaken in conjunction with the accompanying drawings, in which:

FIG. 1 illustrates a configuration of a robot, according to anembodiment;

FIG. 2 is a perspective view of a hand part a robot, according to anembodiment;

FIG. 3 is a perspective view illustrating a cross-section of the handpart of FIG. 2;

FIG. 4 is a perspective view illustrating a cross-section of the handpart of FIG. 2;

FIG. 5 is a block diagram illustrating a controller of a robot,according to an embodiment;

FIG. 6A is a flowchart illustrating operation of a robot, according toan embodiment;

FIG. 6B is a flowchart illustrating operation of a robot, according toan embodiment;

FIGS. 7A and 7B are diagrams of a hand part, according to an embodiment;

FIGS. 8A, 8B and 8C are diagrams of a hand part, according anembodiment;

FIG. 9 is a diagram of a hand part, according to an embodiment;

FIGS. 10A and 10B are diagrams of a hand part, according to anembodiment;

FIGS. 11A and 11B are diagrams of a hand part, according to anembodiment;

FIGS. 12A and 12B are diagrams of a hand part, according to anembodiment; and

FIGS. 13A, 13B and 13C are diagrams of a hand part, according to anembodiment.

DETAILED DESCRIPTION

Various embodiments will be described more fully hereinafter withreference to the accompanying drawings. In the drawings, like numeralsrefer to like elements throughout. As used herein, the terms “1st” or“first” and “2nd” or “second” may use corresponding component regardlessof importance or order and are used to distinguish a component fromanother without limiting the components. Expressions such as “at leastone of,” when preceding a list of elements, modify the entire list ofelements and do not modify the individual elements of the list. Forexample, the expression, “at least one of a, b, and c,” should beunderstood as including only a, only b, only c, both a and b, both a andc, both b and c, or all of a, b, and c.

FIG. 1 illustrates a configuration of a robot 10, according to anembodiment. The robot 10 includes an arm part 100, a three-dimensional(3D) information acquirer 150, an interface cable 151, a hand part 200,an interface cable 201, and a controller 300.

The arm part 100 positions the hand part 200. The arm part 100 mayinclude, but is not exclusive to, links 111 to 117 and joints 121 to126. The links 111 to 117 are parts corresponding to a lower arm, upperarm, wrist, and the like. The joints 121 to 126 are parts correspondingto joints, and each of the joints 121 to 126 connects betweenneighboring links so that the links are rotatable in at least onedirection. In FIG. 1, each of the joints 121 to 126 allows itsneighboring link to be able to rotate as follows, without being limitedthereto. The joint 121 allows the link 112 to be able to rotate againstthe link 111 around a center axis of the link 111. The joint 122 allowsthe link 113 to be able to rotate against the link 112 around an axisperpendicular to a plane including the links 112 and 113. Similar to thejoint 122, the joint 123 allows the link 114 to be able to rotateagainst the link 113 and the joint 125 allows the link 116 to be rotatedagainst the link 115. Similar to the joint 121, the joint 124 allows thelink 115 to be able to rotate against the link 114 and the joint 126allows the link 117 to be rotated against the link 116.

The 3D information acquirer 150 is a device arranged e.g., at the handpart 200, and is used for acquiring 3D information within a rangeenclosed by dotted lines in a radial direction of a fan shape. The 3Dinformation refers to information indicating of a group of dots on thecontour of an object in the range. The 3D information acquirer 150 maybe any device that is able to acquire the 3D information. For example,the 3D information acquirer 150 may be a 3D camera or a sensor usinge.g., ultrasound.

The interface cable 151 is a cable for transmitting the 3D informationfrom the 3D information acquirer 150 to the controller 300.

The hand part 200 is for performing an actual operation depending on thepurpose of the robot 10. The hand part 200 is installed at a front endof the arm part 100. Details of the hand part 200 will be describedlater.

The interface cable 201 is a cable for transmitting an operationinstruction to the hand part 200 from the controller 300 or transmittingvarious sensor signals, which will be described later, to the controller300 from the hand part 200.

The controller 300 controls the whole robot 10. The controller 300includes a central processing unit (CPU) 301, a read-only memory (ROM)302, a random access memory (RAM) 303, and an interface (I/F) 304, whichare interconnected via a bus 305. The CPU 301 provides variousfunctions, as will be described later, by loading various programsstored in the ROM 302 into the RAM 303 and executing the programs. TheROM 302 is a memory for storing various programs to be executed by theCPU 301. The RAM 303 is a memory used as e.g., a task memory of the CPU301. The I/F 304 transmits or receives various information to or fromthe 3D information acquirer 150 through the interface cable 151 and toor from the hand part 200 through the interface cable 201. Furthermore,the I/F 304 transmits or receives various information to or from the armpart 100, and to or from a network.

FIG. 2 is a perspective view of the hand part 200 of the robot 10,according to an embodiment. Herein, “left side” and “right side” referto the left side and the right side, respectively, in the drawings.Depending on the viewing position, the left side may look like a frontside and the right side may look like a rear side, or the left side maylook like a right side and the right side may look like a left side, orthe left side may look like a rear side and the right side may look likea front side, so the left side is taken as an example of one side andthe right side is an example of the other side.

As illustrated, the hand part 200 includes a base 205. The base 205 is abase part of the hand part 200.

The hand part 200 includes motors 211 a and 211 b. The motor 211 a is apower source arranged on the left of the base 205. The motor 211 b is apower source arranged on the right of the base 205. The motor 211 a isan example of an actuator on one side, and the motor 211 b is an exampleof an actuator on the other side. The motors 211 a and 211 b may becollectively called a motor 211.

The hand part 200 includes first gears 221 a and 221 b. The first gear221 a is arranged on the left side of the base 205, is coupled to themotor 211 a, and is rotated when the motor 211 a is rotated. The firstgear 221 b is arranged on the right side of the base 205, is coupled tothe motor 211 b, and is rotated when the motor 211 b is rotated. Thefirst gear 221 a is an example of a first gear on one side and the firstgear 221 b is an example of a first gear on the other side. The firstgears 221 a and 221 b may be collectively called a first gear 221.

The hand part 200 includes second gears 222 a and 222 b. The second gear222 a is arranged on the left side of the base 205, is interlocked withthe first gear 221 b, and when the first gear 221 b is rotated, thesecond gear 222 a is rotated in the opposite direction. The second gear222 b is arranged on the right side of the base 205, is interlocked withthe first gear 221 a, and when the first gear 221 a is rotated, thesecond gear 222 b is rotated in the opposite direction. The second gear222 a is an example of a second gear on one side and the second gear 222b is an example of a second gear on the other side. The second gears 222a and 222 b may be collectively called a second gear 222.

The first gear 221 a and the second gear 222 a constitute a first jointJ1 a, and the first gear 221 b and the second gear 222 b constitute afirst joint J1 b. The first joints J1 a and J1 b may be collectivelycalled a first joint J1. For example, a rotation axis of the motor 211 amay correspond to a rotation axis of the first gear 221 a and a rotationaxis of the second gear 222 a. For example, a rotation axis of the motor211 b may correspond to a rotation axis of the first gear 221 b and arotation axis of the second gear 222 b.

The hand part 200 includes first links 231 a, 231 a′ and 231 b. Thefirst links 231 a, 231 a′ and 231 b are inner links of the fingers. Thefirst links 231 a and 231 a′ are connected to the first gear 221 a andmoved in a direction of opening or closing the fingers as the first gear221 a is rotated. The first link 231 a and the first link 231 a′ areintegrated into a rigid body. The first link 231 b is connected to thesecond gear 222 b and moved in a direction of opening or closing thefinger as the second gear 222 b is rotated. The first links 231 a and231 a′ are an example of first links on one side and the first link 231b is an example of a first link on the other side. The first links 231a, 231 a′ and 231 b may be collectively called a first link 231.

The hand part 200 includes second links 232 a, 232 a′ and 232 b. Thesecond links 232 a, 232 a′ and 232 b are outer links of the fingers. Thesecond links 232 a and 232 a′ are connected to the second gear 222 a andmoved in a direction of opening or closing the fingers as the secondgear 222 a is rotated. The second link 232 a and the second link 232 a′are integrated into a rigid body. The second link 232 b is connected tothe first gear 221 b and moved in a direction of opening or closing thefinger as the first gear 221 b is rotated. The second links 232 a and232 a′ are an example of second links on one side and the second link232 b is an example of a second link on the other side. The second links232 a, 232 a′ and 232 b may be collectively called a second link 232.

The hand part 200 includes third links 233 a, 233 a′ and 233 b. Thethird links 233 a, 233 a′ and 233 b are links connecting the inner linksand the outer links of the fingers. The third link 233 a connects an endof the first link 231 a that is not connected to the first gear 221 a toan end of the second link 232 a that is not connected to the second gear222 a. The third link 233 a′ connects an end of the first link 231 a′that is not connected to the first gear 221 a to an end of the secondlink 232 a′ that is not connected to the second gear 222 a. The thirdlink 233 b connects an end of the first link 231 b that is not connectedto the first gear 221 b to an end of the second link 232 b that notconnected to the second gear 222 b. The third links 233 a and 233 a′ arean example of third links on one side and the third link 233 b is anexample of a third link on the other side. The third links 233 a, 233 a′and 233 b may be collectively called a third link 233.

A part where the first link 231 a, the second link 232 a and the thirdlink 233 a are connected forms the second joint J2 a. A part where thefirst link 231 a′, the second link 232 a′ and the third link 233 a′ areconnected forms the second joint J2 a′. A part where the first link 231b, the second link 232 b and the third link 233 b are connected formsthe second joint J2 b. The second joints J2 a, J2 a′ and J2 b may becollectively called a second joint J2.

FIG. 3 is a perspective view illustrating a cross-section obtained bycutting the hand part 200 of FIG. 2 in a plane including the first gear221 a and the second gear 222 b. FIG. 4 is a perspective viewillustrating a cross-section obtained by cutting the hand part 200 ofFIG. 2 in a plane including the first gear 221 b and the second gear 222a.

Referring to FIGS. 2 to 4, operations of the motors 211 a and 211 b torotate the first links 231 a, 231 a′ and 231 b, the second links 232 a,232 a′ and 232 b, and the third links 233 a, 233 a′ and 233 b will nowbe described.

An operation to rotate the first links 231 a, 231 a′ and 231 b will bedescribed first.

In this case, the motor 211 a is driven to be rotated. Accordingly, thefirst gear 221 a coupled to the motor 211 a is rotated as shown by anarrow R1 a of FIG. 3. The first link 231 a′ connected to the first gear221 a is then rotated as shown by an arrow S1 a of FIG. 3. Furthermore,as the first link 231 a is fixed to the first link 231 a′, the firstlink 231 a is rotated simultaneously with the first link 231 a′.

When the first gear 221 a is rotated, the second gear 222 b interlockedwith the first gear 221 a is rotated as shown by an arrow R1 b of FIG.3. The first link 231 b connected to the second gear 222 b is thenrotated as shown by an arrow S1 b of FIG. 3.

In this way, when the motor 211 a is rotated, the associated first links231 a and 231 a′ are rotated around the rotation axis of the motor 211a, and the first link 231 b is rotated around the rotation axis of themotor 211 b by the same angle in the opposite direction of the firstlinks 231 a and 231 a′.

Next, an operation to rotate the second links 232 a, 232 a′ and 232 bwill be described.

In this case, the motor 211 b is driven to be rotated. Accordingly, thefirst gear 221 b coupled to the motor 211 b is rotated as shown by anarrow R2 b of FIG. 4. The second link 232 b connected to the first gear221 b is then rotated as shown by an arrow S2 b of FIG. 4. In FIG. 4,although the second link 232 b is actually connected to the first gear221 b, the second link 232 b does not look like it is connected to thefirst gear 221 b in the cutting plane.

When the first gear 221 b is rotated, the second gear 222 a interlockedwith the first gear 221 b is rotated as shown by an arrow R2 a of FIG.4. The second link 232 a′ connected to the second gear 222 a is thenrotated as shown by an arrow S2 a of FIG. 4. Furthermore, as the secondlink 232 a is fixed to the second link 232 a′, the second link 232 a isalso rotated simultaneously.

In this way, when the motor 211 b is rotated, the associated second link232 b is rotated around the rotation axis of the motor 211 b, and thesecond links 232 a and 232 a′ are rotated around the rotation axis ofthe motor 211 a by the same angle in the opposite direction of thesecond link 232 b.

Next, an operation to rotate the third links 233 a, 233 a′ and 233 bwill be described.

In this case, for example, the motor 211 a is stopped and the motor 211b is rotated. Accordingly, the first gear 221 b coupled to the motor 211b and the second link 232 b connected to the first gear 221 b arerotated.

The second gear 222 a interlocked with the first gear 221 b is rotated,and the second link 232 a′ connected to the second gear 222 a isrotated. Furthermore, as the second link 232 a is fixed to the secondlink 232 a′, the second link 232 a is rotated simultaneously with thesecond link 232 a′.

In this way, when the motor 211 b is rotated, the associated second link232 b is rotated around the rotation axis of the motor 211 b, and thesecond links 232 a and 232 a′ are rotated around the rotation axis ofthe motor 211 a by the same angle in the opposite direction of thesecond link 232 b. However, as rotation of the motor 211 a is suspendedand the first links 231 a, 231 a′ and 231 b are not moved, the thirdlinks 233 a, 233 a′ and 233 b work together and are rotated around thesecond joint J2 of the respective fingers. That is, the third links 233a, 233 a′ and 233 b are synchronized and operated to be bent inwards.

Specifically, when the motor 211 a and the motor 211 b aresimultaneously driven to rotate by the same angle, the first joints J1of three fingers are rotated at the same time, and when the motor 211 ais stopped and the motor 211 b is rotated, only the second joints J2 ofthe three fingers are simultaneously rotated. With a combination ofthese motions, the first joint J1 and the second joint J2 may be rotatedby an arbitrary angle by engaging the three fingers with each other.

Although the first gear 221 and the second gear 222 are directlyinterlocked together herein, the disclosure is not limited thereto. Forexample, the first gear 221 and the second gear 222 may be engaged torotate in opposite directions.

For example, a first middle gear and a second middle gear are providedin sequence from the side of the first gear 221 to the side of thesecond gear 222, and the first gear 221 and the second gear 222 may beengaged through the middle gears.

In this regard, as a first example, the first gear 221 and the firstmiddle gear may be connected by a chain, the first middle gear and thesecond middle gear may be directly interlocked, and the second gear 222and the second middle gear may be connected by a chain.

As a second example, the first gear 221 and the first middle gear, thefirst middle gear and the second middle gear, and the second middle gearand the second gear 222 may each be directly interlocked.

Turning back to FIGS. 2 to 4, description of the structure of the handpart 200 will be continued.

The hand part 200 includes finger parts 241 a, 241 a′ and 241 b, fingerbelly parts 242 a, 242 a′ and 242 b, and tactile sensors 243 a, 243 a′and 243 b.

The finger parts 241 a, 241 a′ and 241 b are coupled to the third links233 a, 233 a′ and 233 b, respectively, and are parts corresponding tofingers. The finger parts 241 a and 241 a′ are an example of fingerparts on one side, and the finger part 241 b is an example of a fingerpart on the other side. The finger parts 241 a, 241 a′ and 241 b may becollectively called a finger part 241. Although the finger parts 241 a,241 a′ and 241 b are provided in this example, at least one of them maybe provided. In this sense, the finger part 241 may be understood as anexample of at least one of the finger part on the one side coupled tothe third link on the one side or the finger part on the other sidecoupled to the third link on the other side.

The finger belly parts 242 a, 242 a′ and 242 b are installed on innersides of the finger parts 241 a, 241 a′ and 241 b, respectively, and areparts corresponding to the belly of the finger. The finger belly parts242 a, 242 a′ and 242 b may be formed of e.g., an elastic and softmaterial. The finger belly parts 242 a, 242 a′ and 242 b may becollectively called a finger belly part 242.

The tactile sensors 243 a, 243 a′ and 243 b are arranged in the fingerparts 241 a, 241 a′ and 241 b, respectively. The tactile sensors 243 a,243 a′ and 243 b detect a grip of an object with the finger parts 241 a,241 a′ and 241 b, respectively. Specifically, when the finger parts 241a, 241 a′ and 241 b grip an object, the object may cause the fingerbelly parts 242 a, 242 a′ and 242 b to rotate by a small angle andcontact with the tactile sensors 243 a, 243 a′ and 243 b, andaccordingly, the grip may be detected based on the contact. The tactilesensors 243 a, 243 a′ and 243 b may be collectively called a tactilesensor 243. Alternatively, a force or torque sensor may be providedinstead of the tactile sensor 243. Alternatively, instead of the tactilesensor 243, a current sensor may be provided to perform the detectionthrough torque sensing.

Furthermore, the hand part 200 includes adsorption pads 251 a, 251 a′and 251 b and adsorption pumps 252 a, 252 a′ and 252 b.

The adsorption pads 251 a, 251 a′ and 251 b are mounted on the fingerpart 241 a and the finger belly part 242 a, the finger part 241 a′ andthe finger belly part 242 a′, and the finger part 241 b and the fingerbelly part 242 b, respectively. The adsorption pads 251 a, 251 a′ and251 b are to grip an object by adsorbing the object with the finger part241 a and the finger belly part 242 a, the finger part 241 a′ and thefinger belly part 242 a′, and the finger part 241 b and the finger bellypart 242 b, respectively. For example, it is possible to put a nameplateinto a card wallet with the adsorption pads 251 a and 251 a′ adsorbingand raising an edge of the name plate and the adsorption pad 251 bgripping the nameplate by adsorbing the edge to hold it on the otherside. In another example, it is possible to smooth wrinkles of cloth orpaper by adsorbing an edge of the cloth or paper with the adsorptionpads 251 a and 251 a′, adsorbing the other edge of the cloth or paperwith the adsorption pad 251 b, and spread the finger parts 241 a and 241a′ and the finger part 241 b. The adsorption pads 251 a, 251 a′ and 251b are detachable, so the positions of the adsorption pads 251 a, 251 a′and 251 b in the drawings are merely an example, and the adsorption pads251 a, 251 a′ and 251 b may be installed anywhere on the finger parts241 a, 241 a′ and 241 b or the finger belly parts 242 a, 242 a′ and 242b. The adsorption pads 251 a and 251 a′ are an example of adsorptionparts on one side, and the adsorption pad 251 b is an example of anadsorption part on the other side. Alternatively, the finger belly parts242 a, 242 a′ and 242 b may serve as jamming transition epidermisinstead of installing the adsorption pads 251 a, 251 a′ and 251 b on thefinger belly parts 242 a, 242 a′ and 242 b, so that the finger bellyparts 242 a, 242 a′ and 242 b may grip an object. In this case, thefinger parts 242 a and 242 a′ are an example of the adsorption parts onone side, and the finger belly part 242 b is an example of theadsorption part on the other side.

Adsorption pads 251 c are arranged on the top surface of the base 205,i.e., a portion of a palm in terms of a hand, in the middle between thefinger parts 241 a and 241 a′ and the finger part 241 b. The adsorptionpads 251 c are for gripping an object by adsorbing the object in a statein which the fingers are spread apart from each other. The adsorptionpads 251 c are an example of middle adsorption parts.

The adsorption pads 251 a, 251 a′ and 251 b may be collectively calledan adsorption pad 251. Although the adsorption pads 251 a, 251 a′ and251 b are shown, additional adsorption pads or fewer adsorption pads maybe provided. In this case, it may be understood that the adsorption pad251 is an example of at least one of the adsorption part on one sidearranged on the finger part on the one side, the adsorption part on theother side arranged on the finger part on the other side, or the middleadsorption part arranged in the middle between the finger part on theone side and the finger part on the other side.

The adsorption pumps 252 a, 252 a′ and 252 b are provided in the fingerparts 241 a, 241 a′ and 241 b, and are connected to the adsorption pads251 a, 251 a′ and 251 b through adsorption conduits. Adsorption pumps252 c are arranged in the base 205 and are connected to the adsorptionpads 251 c through adsorption conduits. The adsorption pumps 252 a, 252a′, 252 b, and 252 c allow the adsorption pads 251 a, 251 a′ 251 b and251 c to adsorb an object by vacuuming air from the inside of theadsorption pads, respectively. The positions at which the adsorptionpumps 252 a, 252 a′, 252 b and 252 c are installed are an example. Theadsorption pumps 252 a, 252 a′, 252 b and 252 c may all be arranged inthe base 205. The adsorption pumps 252 a, 252 a′ 252 b and 252 c may becollectively called an adsorption pump 252.

Although three adsorption pads are provided as the adsorption pad 251 cin the above example, the disclosure is not limited thereto. Forexample, there may be one adsorption pad, and the one adsorption pad maycorrespond to a size the three adsorption pads.

Furthermore, the hand part 200 includes pressure sensors 261 a, 261 a′,261 b, and 261 c. The pressure sensors 261 a, 261 a′ and 261 b areconnected to adsorption conduits in the finger parts 241 a, 241 a′ and241 b, respectively. The pressure sensor 261 c is connected to anadsorption conduit in the base 205. The pressure sensors 261 a, 261 a′and 261 b detect pressure in the adsorption conduit between theadsorption pad 251 a and the adsorption pump 252 a, the adsorptionconduit between the adsorption pad 251 a′ and the adsorption pump 252a′, and the adsorption conduit between the adsorption pad 251 b and theadsorption pump 252 b, respectively. The pressure sensor 261 c detectspressure in the adsorption conduit between the adsorption pad 251 c andthe adsorption pump 252 c. The positions at which the pressure sensors261 a, 261 a′, 261 b and 261 c are installed are an example. Forexample, in the case that the adsorption pumps 252 a, 252 a′, 252 b and252 c are all arranged in the base 205, all the pressure sensors 261 a,261 a′, 261 b and 261 c may be arranged in the base 205. The pressuresensors 261 a, 261 a′, 261 b, and 261 c may be collectively called apressure sensor 261.

Furthermore, the hand part 200 includes nail parts 271 a, 271 a′ and 271b. The nail parts 271 a, 271 a′ and 271 b are arranged at ends (frontends) of the finger parts 241 a, 241 a′ and 241 b, respectively. Thenail parts 271 a, 271 a′ and 271 b are to grip an object by picking upthe object that is hard to grip only with the finger parts 241 a, 241 a′and 241 b, respectively. For example, when a thin plate lies on thefloor, it may be picked up by the nail parts 271 a and 271 a′ and thenail part 271 b on both sides. In another example, a desired book ofbooks packed in a bookshelf may be taken out by the nail parts 271 a and271 a′ and the nail part 271 b on both sides. The nail parts 271 a, 271a′ and 271 b may be collectively called a nail part 271.

The hand part 200 employs a structure in which the finger parts 241 aand 241 a′ are able to rotate separately around their own central axesas rotation axes.

Furthermore, although the hand part 200 has the first joint J1 and thesecond joint J2 provided at each finger part, there may be three or morejoints arranged at each finger part.

In addition, although the hand part 200 has two finger parts on one sideand a finger part on the other side, embodiments are not limitedthereto. For example, one finger part on each of the one side and theother side may be provided, or two finger parts on each of the one sideand the other side may be provided.

FIG. 5 is a block diagram illustrating the 3D information acquirer 160,the hand part 200, and the controller 300 of the robot 10, according toan embodiment.

As shown, the controller 300 of the robot 10 according to an embodimentincludes various hardware components, including a 3D informationprocessor 311, a storage 312, a determiner 313, an operation instructor314, and a sensor signal processor 315.

The 3D information processor 311 receives and processes 3D informationfrom the 3D information acquirer 150. As described above, the 3Dinformation refers to information indicating a group of dots on thecontour of an object in space. The 3D information processor 311recognizes an object present in the space from the informationindicating the group of dots. Furthermore, the 3D information processor311 specifies a position of the object recognized from the informationindicating the group of dots. In this case, the position may be e.g., arelative position of the object to the 3D information acquirer 150. Asan example of a component for recognizing an object, the 3D informationprocessor 311 is provided.

The storage 312 stores information indicating a correspondence between atype of the object and a method of gripping the object. The method ofgripping the object may include e.g., a method of gripping the objectwith the finger part 241, a method of gripping the object with theadsorption pad 251, and a method of gripping the object with a complexoperation using both the finger part 241 and the adsorption pad 251.

When information indicating a method of gripping the object recognizedby the 3D information processor 311 is stored in the storage 312, thedeterminer 313 specifies the method associated with the object as amethod of gripping the object. The determiner 313 informs the operationinstructor 314 of the specified method.

When information indicating a method of gripping the object recognizedby the 3D information processor 311 is not stored in the storage 312,the determiner 313 sends corresponding information to the operationinstructor 314. The determiner 313 then specifies a method that hassucceeded in gripping the object (or a similar object) based on thesensor signal acquired from the sensor signal processor 315, and storesinformation indicating the method in the storage 312 as a method ofgripping the object. For example, the determiner 313 is provided as anexample of a component (i.e., a hardware component) for registering amethod of gripping an object.

When information indicating a method of gripping the object stored inthe storage 312 is informed to the operation instructor 314 from thedeterminer 313, the operation instructor 314 controls the hand part 200to grip the object in the gripping method. For example, when receivinginformation indicating a method of gripping the object with the fingerpart 241 from the determiner 313 as the method of gripping the object,the operation instructor 314 instructs the motor 211 to perform anoperation of opening or closing the first link 231 and the second link232, and an operation of bending the third link 233 inward. In anotherexample, when receiving information indicating a method of gripping theobject with the adsorption pad 251 as the method of gripping the objectfrom the determiner 313, the operation instructor 314 instructs theadsorption pump 252 to vacuum air of the inside of the adsorption pad251. In still another example, when receiving information indicating amethod of gripping the object with a complex operation using both thefinger part 241 and the adsorption pad 251 as a method of gripping theobject from the determiner 313, the operation instructor 314 controlsboth the motor 211 and the adsorption pump 252 to perform both grippingand adsorption. The operation instructor 314 is provided as an exampleof a component for controlling the object to be gripped by one or bothof the finger part and the adsorption part.

When receiving information indicating a method of gripping the object isnot stored in the storage 312 from the determiner 313, the operationinstructor 314 controls the hand part 200 to perform at least one of theoperation of gripping the object with the finger part 241 or theoperation of gripping the object with the adsorption pad 251. Forexample, in the case of performing the operation of gripping the objectwith the finger part 241, the operation instructor 314 instructs themotor 211 to perform an operation of opening or closing the first link231 and the second link 232 and an operation of bending the third link233 inward. In another example, in the case of performing the operationof gripping the object with the adsorption pad 251, the operationinstructor 314 instructs the adsorption pump 252 to vacuum air of theinside of the adsorption pad 251. In still another example, in the caseof performing the operation of gripping the object with a complexoperation using both the finger part 241 and the adsorption pad 251, theoperation instructor 314 controls the motor 211 and the adsorption pump252 to perform the both operations. The operation instructor 314 isprovided as an example of a component for controlling at least one ofthe operation of gripping the object with the finger part or theoperation of gripping the object with the adsorption part to beperformed.

The sensor signal processor 315 may be provided by the tactile sensor243 a sensor signal that represents a result of gripping the object withthe finger part 241 performed under the instruction to the motor 211from the operation instructor 314. Furthermore, the sensor signalprocessor 315 may obtain be provided by the pressure sensor 261 a sensorsignal that represents a result of gripping the object with theadsorption pad 251 performed under the instruction from the operationinstructor 314 to the adsorption pump 252. As an example of a componentfor controlling to detect that a grip of an object has been successful,the sensor signal processor 314 is provided.

FIGS. 6A and 6B are flowcharts illustrating operation of the controller300 of the robot 10, according to an embodiment.

Referring to FIG. 6A, the controller 300 controls the 3D informationprocessor 311 to receive 3D information from the 3D information acquirer150, in operation S321. The 3D information processor 311 then recognizesan object, which is a target to be gripped, in operation S322 byprocessing the 3D information received in the operation S321. The 3Dinformation processor 311 specifies a position of the object recognizedin operation S322 based on the 3D information received in the operationS321, in operation S323.

Subsequently, the determiner 313 determines whether the objectrecognized in the operation S322 is an object to be gripped only withthe finger part 241, based on information stored in the storage 312, inoperation S324.

When it is determined in the operation S324 that the object recognizedin the operation S322 is the object to be gripped only with the fingerpart 241 based on information stored in the storage 312, the operationinstructor 314 instructs the hand part 200 to perform a grippingoperation only with the finger part 241, in operation S325.Specifically, the operation instructor 314 instructs the motor 211 toperform an operation of opening or closing the first link 231 and thesecond link 232 and an operation of bending the third link 233 inward.

Accordingly, the sensor signal processor 315 receives tactileinformation, which is a sensor signal, from the tactile sensor 243, inoperation S326.

On the other hand, when it is determined in the operation S324 that theobject recognized in the operation S322 is not the object to be grippedonly with the finger part 241, the determiner 313 determines whether theobject is an object to be gripped only with the adsorption pad 251,based on information stored in the storage 312, in operation S327.

When it is determined in the operation S327 that the object recognizedin the operation S322 is the object to be gripped only with theadsorption pad 251, based on information stored in the storage 312, theoperation instructor 314 instructs the hand part 200 to perform agripping operation only with the adsorption pad 251, in operation S328.Specifically, the operation instructor 314 instructs the adsorption pump252 to vacuum the air of the inside of the adsorption pad 251.

Accordingly, the sensor signal processor 315 receives pressureinformation, which is a sensor signal, from the pressure sensor 261, inoperation S329.

On the other hand, when it is determined in the operation S327 that theobject recognized in the operation S322 is not the object to be grippedonly with the adsorption pad 251, the determiner 313 determines whetherthe object is an object to be gripped with a complex operation usingboth the finger part 241 and the adsorption pad 251, based oninformation stored in the storage 312, in operation S330.

When it is determined in the operation S330 that the object recognizedin the operation S322 is the object to be gripped by a complex operationusing both the finger part 241 and the adsorption pad 251, based oninformation stored in the storage 312, the operation instructor 314instructs the hand part 200 to perform a gripping operation with thecomplex operation using both the finger part 241 and the adsorption pad251, in operation S331. Specifically, the operation instructor 314instructs the motor 211 to perform an operation of opening or closingthe first link 231 and the second link 232 and an operation of bendingthe third link 233 inward. In addition, the operation instructor 314instructs the adsorption pump 252 to vacuum the air inside of theadsorption pad 251.

Accordingly, the sensor signal processor 315 receives tactileinformation and pressure information, which are sensor signals, from thetactile sensor 243 and the pressure sensor 261, respectively, inoperation S332.

After this, the determiner 313 determines whether the grip of the objectrecognized in the operation S322 has been successful, in operation S333.Specifically, the determiner 313 performs the determination based on oneof the tactile information received in the operation S326, the pressureinformation received in the operation S329, and the tactile informationand the pressure information received in the operation S332.

As a result, when it is determined in the operation S333 that the gripof the object recognized in the operation S322 has not been successful,the determiner 313 determines whether a number of execution times of thegripping operation exceeds a limit number, in operation S334. When it isdetermined in the operation S334 that the number of execution times ofthe gripping operation does not exceed the limit number, the determiner313 makes the process go back to the operation S324 to repeat theprocess until the operation S333.

On the other hand, when it is determined in the operation S333 that thegrip of the object has been successful, the operation instructor 314instructs the arm part 100, the hand part 200, and the like, to move theobject gripped to a desired position, in operation S335. The position tobe moved to may be registered in advance e.g., for each type of object.The controller 300 then ends the process.

When the number of execution times of the gripping operation isdetermined in the operation S334 to exceed the limit number, thecontroller 300 ends the process.

A case that it is not determined in the operation S330 that the objectrecognized in the operation S322 is an object to be gripped with thecomplex operation using both the finger part 241 and the adsorption pad251 will now be described. That is, a case that the object recognized inthe operation S322 has no corresponding information stored in thestorage 312 will now be described.

In this case, as shown in FIG. 6B, the operation instructor 314instructs the hand part 200 to perform the gripping operation only withthe finger part 241, in operation S341. Specifically, the operationinstructor 314 instructs the motor 211 to perform an operation ofopening or closing the first link 231 and the second link 232 and anoperation of bending the third link 233 inward.

Accordingly, the sensor signal processor 315 receives tactileinformation, which is a sensor signal, from the tactile sensor 243, inoperation S342.

After this, the determiner 313 determines whether the grip of the objectrecognized in the operation S322 has been successful, in operation S343.Specifically, the determiner 313 makes the determination based on thetactile information received in the operation S342.

As a result, when it is determined in the operation S343 that the gripof the object recognized in the operation S322 has not been successful,the determiner 313 determines whether a number of execution times of thegripping operation exceeds a limit number, in operation S344. When it isdetermined in the operation S344 that the number of execution times ofthe gripping operation does not exceed the limit number, the determiner313 makes the process go back to the operation S341 to repeat theprocess until the operation S343.

On the other hand, when it is determined in the operation S344 that thenumber of execution times of the gripping operation exceeds the limitnumber, the operation instructor 314 instructs the hand part 200 toperform the gripping operation only with the adsorption pad 251, inoperation S345. Specifically, the operation instructor 314 instructs theadsorption pump 252 to vacuum the air inside of the adsorption pad 251.

Accordingly, the sensor signal processor 315 receives pressureinformation, which is a sensor signal, from the pressure sensor 261, inoperation S346.

After this, the determiner 313 determines whether the grip of the objectrecognized in the operation S322 has been successful, in operation S347.Specifically, the determiner 346 makes the determination based on thepressure information received in the operation S342.

As a result, when it is determined in the operation S347 that the gripof the object recognized in the operation S322 has not been successful,the determiner 313 determines whether a number of execution times of thegripping operation exceeds a limit number, in operation S348. When it isdetermined in the operation S348 that the number of execution times ofthe gripping operation does not exceed the limit number, the determiner313 makes the process go back to the operation S345 to repeat theprocess until the operation S347.

On the other hand, when it is determined in the operation S348 that thenumber of execution times of the gripping operation exceeds the limitnumber, the operation instructor 314 instructs the hand part 200 toperform the gripping operation with a complex operation using both thefinger part 241 and the adsorption pad 251, in operation S349.Specifically, the operation instructor 314 instructs the motor 211 toperform an operation of opening or closing the first link 231 and thesecond link 232 and an operation of bending the third link 233 inward.In addition, the operation instructor 314 instructs the adsorption pump252 to vacuum the air inside of the adsorption pad 251.

Accordingly, the sensor signal processor 315 receives tactileinformation and pressure information, which are sensor signals, from thetactile sensor 243 and the pressure sensor 261, respectively, inoperation S350.

After this, the determiner 313 determines whether the grip of the objectrecognized in the operation S322 has been successful, in operation S351.Specifically, the determiner 350 makes the determination based on thetactile information and the pressure information received in theoperation S350.

As a result, when it is determined in the operation S351 that the gripof the object recognized in the operation S322 has not been successful,the determiner 313 determines whether a number of execution times of thegripping operation exceeds a limit number, in operation S352. When it isdetermined in the operation S352 that the number of execution times ofthe gripping operation does not exceed the limit number, the determiner313 makes the process go back to the operation S349 to repeat theprocess until the operation S351.

On the other hand, when it is determined in the operation S343, S347 orS351 that the grip of the object recognized in the operation S322 hasbeen successful, the determiner 313 stores information indicating themethod successfully used to grip the object in the storage 312, inoperation S353. Specifically, when determining that the operationperformed to grip the object only with the finger part 241 in theoperation S341 has been successful in the operation S343, the determiner313 stores information indicating the object in the storage 312 as anobject to be gripped only by the finger part 241. Furthermore, whendetermining that the operation performed to grip the object only withthe adsorption pad 251 in the operation S345 has been successful in theoperation S347, the determiner 313 stores information indicating theobject in the storage 312 as an object to be gripped only by theadsorption pad 251. In addition, when determining that the operationperformed to grip the object through a complex operation using both thefinger part 241 and the adsorption pad 251 in the operation S349 hasbeen successful in the operation S351, the determiner 313 storesinformation indicating the object in the storage 312 as an object to begripped through the complex operation using both the finger part 241 andthe adsorption pad 251.

Subsequently, the operation instructor 314 instructs the arm part 100,the hand part 200, and the like, to move the object gripped to a desiredposition, in operation S354. The position to be moved to may beregistered in advance e.g., for each type of object. The controller 300then ends the process.

In the case that the number of execution times of the gripping operationis determined in the operation S352 to exceed the limit number, thecontroller 300 ends the process.

FIGS. 7A and 7B are diagrams for describing a hand part 410, accordingto an embodiment. As shown, the hand part 410 includes two fingers.

According to an embodiment, the hand part 410 differs from the hand part200 in that the adsorption pads 251 a and 251 b are removed from thefinger parts 241 a and 241 b and a blower mechanism 411 is provided inat least one finger part 241. The blower mechanism 411 (i.e., a fan andnozzle) is arranged in the finger part 241 b, for example.

For example, as shown in FIG. 7A, when there is an object P such ascloth or paper lying on the floor, and the blower mechanism 411 blowsair as represented with arrows while the finger part 241 a presses theobject P, a side of the object P is turned over by the wind. The fingerpart 241 b then pushes the object P from the opposite side of the fingerpart 241 a, thereby gripping the object P, as shown in FIG. 7B.

Although the adsorption pad 251 is removed from both the finger parts241 a and 241 b, embodiments are not limited thereto. For example, oneof the finger parts 241 a and 241 b has the adsorption pad 251.

FIGS. 8A, 8B and 8C are diagrams for describing a hand part 420,according to an embodiment. The hand part 420 illustrated includes twofingers.

According to an embodiment, the hand part 420 differs from the hand part200 in that a blower mechanism 421 (i.e., a fan and nozzle) is added inat least one finger part 241. The blower mechanism 421 is added in thefinger part 241 b, for example.

For example, as shown in FIG. 8A, when there is the object P such as aplastic bag lying on the floor, and the blower mechanism 421 blows airas represented with arrows while the adsorption pad 251 a of the fingerpart 241 a adsorbs the object P, a side of the object P is turned overby the wind. The adsorption pad 251 b of the finger part 241 b thenadsorbs the object P on the opposite side of the adsorption pad 251 a ofthe finger part 241 a, thereby gripping the object P, as shown in FIG.8B. After this, as shown in FIG. 8C, the object P may be opened bymoving the first links 231 a and 231 b, the second links 232 a and 232b, and the third links 233 a and 233 b to open the finger parts 241 aand 241 b.

FIG. 9 is a diagram for describing a hand part 430, according to anembodiment. The hand part 430 illustrated includes two fingers. Theadsorption pad 251 is hidden in FIG. 9.

According to an embodiment, the hand part 430 differs from the hand part200 in that a clipper 431 is provided to temporarily fasten an object tothe base 205.

For example, in a case of gripping a plate, the plate may be lifted withhigh force of fingers by holding and dragging the plate with the fingerparts 241 a and 241 b first, fixing edges of the plate with the clipper431, and gripping the entire body of the plate with the whole fingers.Furthermore, it is also possible to set the plate on edge into areceiving place by pushing the plate, the edge of which is fastened bythe clipper 431, or dropping the plate by gravity, from the clipper 431.

FIGS. 10A and 10B are diagrams for describing a hand part 440, accordingto an embodiment. The hand part 440 illustrated includes two fingers.The adsorption pad 251 is hidden in FIG. 9.

According to an embodiment, the hand part 440 differs from the hand part200 in that one of the two finger parts is shorter than the other.Specifically, the hand part 440 of FIG. 10A corresponds to the hand part200 with the finger part 241 b removed therefrom. The hand part 440 ofFIG. 10B corresponds to the hand part 200 with the finger part 241 b ofreduced size.

For example, in a case of gripping a plate, it is possible to push theshort finger into a space under the plate. Furthermore, it is alsopossible to grip the plate with high force by pushing the short fingerunder the plate to grip the plate.

FIGS. 11A and 11B are diagrams for describing a hand part 450, accordingto an embodiment. The hand part 450 illustrated includes two fingers.The adsorption pad 251 is hidden in FIG. 9.

According to an embodiment, the hand part 450 differs from the hand part200 in that lengths of the finger parts may be lengthened or shortened.In FIG. 11A, the fingers become shortened by bending the finger parts241 a and 241 b of the hand part 450 outward. It is an example of astate in which the finger parts are bent toward the first and secondlinks. In FIG. 11B, the finger parts 241 a and 241 b of the hand part450 become lengthened by extending. It is an example of a state in whichthe finger parts 241 a and 241 b stretch to the opposite side of thefirst and second links. According to an embodiment, the hand part 450has the second links 232 a and 232 b curved outward to be able to bendthe finger parts 241 a and 241 b outward.

For example, when a plate is gripped in the state of FIG. 11A, there isa weakness that the plate is easily rotated under small fractionalforce, but the plate may be gripped with high torque. On the other hand,when the plate is gripped in the state of FIG. 11B, the frictional forceincreases, making it difficult for the plate to be rotated.

Although the finger parts 241 a and 241 b may be provided as bendable,embodiments are not limited thereto. For example, only one of the fingerparts 241 a and 241 b may be arranged to be bendable.

FIGS. 12A and 12B are diagrams for describing a hand part 460, accordingto an embodiment. The hand part 460 illustrated includes two fingers.The adsorption pad 251 is hidden in FIG. 9.

According to an embodiment, the hand part 460 differs from the hand part200 in that stoppers 461 a and 461 b are provided at the finger parts241 a and 241 b. In FIG. 12A, a state before the hand part 460 grips anobject is illustrated. In FIG. 12B, a state when the hand part 460 gripsan object P is illustrated. The stoppers 461 a and 461 b prevent theobject P from falling by supporting the object P, for example in theopposite direction of the gravity.

For example, in a case of gripping an object having a curved shape suchas edges of a tea cup, the stoppers 461 a and 461 b, when made of softmaterials, are bent along the form of the object, so that the fingerparts 241 a and 241 b are able to fix and grip the object.

Although it is described the stoppers 461 a and 461 b are provided atthe finger parts 241 a and 241 b, respectively, embodiments are notlimited thereto. Alternatively, a structure in which the stopper 461 ais arranged at the finger part 241 a and the stopper 461 b is arrangedat the finger part 241 b may be employed, or a structure in which thestopper 461 a is not arranged at the finger part 241 a but the stopper461 b is arranged at the finger part 241 b may be employed.

FIGS. 13A, 13B and 13C are diagrams for describing a hand part 470,according to an embodiment. The hand part 470 illustrated includes twofingers. The adsorption pad 251 is hidden in FIG. 9.

According to an embodiment, the hand part 470 differs from the hand part200 in that a stopper 471 is arranged at the finger part 241. While thestoppers 461 a and 461 b are arranged on the outside of the finger part241 in the hard part 460, the stopper 471 of the hand part 470 isarranged to spring out from the inside of the finger part 241. Thestopper 471 may be arranged at all the finger parts 241 a and 241 b, butis shown only at the finger part 241 b as an example.

In FIG. 13A, a state in which the hand part 470 is about to grip theobject P such as a plastic bottle is illustrated. In FIG. 13B, a statebefore the object P is gripped is illustrated in a cross-sectional viewalong line A-A′ of FIG. 13A. In this state, the finger part 241 a andthe stopper 471 of the finger part 241 b do not yet contact the objectP. In FIG. 13C, a state when the object P is gripped is illustrated in across-sectional view along line A-A′ of FIG. 13A. In this state, thefinger part 241 a and the stopper 471 of the finger part 241 b contactthe object P. Accordingly, the stopper 471 prevents falling of theobject P by pressing the object P with the force of a spring 472.

According to embodiments, a robot hand has a structure in which a gearon one side is engaged with a link on the one side and a correspondinglink on another side, and a gear on the other side is engaged with alink on the other side and a corresponding link on the one side. Withthe structure, the robot hand is able to open and close two links on oneside and two links on the other side and at the same time, synchronouslyoperate a link connecting the two links on the one side and a linkconnecting the two links on the other side.

According to the disclosure, a robot hand is able to open or close twolinks on one side and two links on the other side while synchronouslyoperating a link connecting the two links on the one side and a linkconnecting the two links on the other side.

While embodiments have been particularly shown and described, it will beunderstood that various changes in form and details may be made thereinwithout departing from the spirit and scope of the following claims.

What is claimed is:
 1. A robot hand comprising: a first drive gear on afirst side configured to be rotated by a first actuator on the firstside; a second drive gear on a second side configured to be rotated by asecond actuator on the second side; a first interlocked gear on thefirst side interlocked with the second drive gear so that the firstinterlocked gear and the second drive gear rotate in oppositedirections; a second interlocked gear on the second side interlockedwith the first drive gear so that the second interlocked gear and thefirst drive gear rotate in opposite directions; a first inner link onthe first side engaged with rotation of the first drive gear; a firstouter link on the first side engaged with rotation of the firstinterlocked gear; a first end link on the first side connected to thefirst inner link and the first outer link opposite the first actuator; asecond inner link on the second side engaged with rotation of the secondinterlocked gear; a second outer link on the second side engaged withrotation of the second drive gear; and a second end link on the secondside connected to the second inner link and the second outer linkopposite the second actuator.
 2. The robot hand of claim 1, furthercomprising a controller configured to: control the first inner link, thesecond inner link, the first outer link and the second outer link toperform an opening or closing operation by simultaneously operating thefirst actuator and the second actuator; and control the first outerlink, the second outer link, the first end link and the second end linkto be synchronously operated by deactivating the first actuator andactuating the second actuator.
 3. The robot hand of claim 1, furthercomprising a first finger portion on the first side connected to thefirst end link.
 4. The robot hand of claim 3, wherein the first fingerportion extends away from the first inner link and the first outer linkand are configured to bend inward toward the first inner link.
 5. Therobot hand of claim 3, wherein the first finger portion comprises astopper configured to grip an object.
 6. The robot hand of claim 3,further comprising a second finger portion on the second side connectedto the second end link.
 7. The robot hand of claim 6, wherein the secondfinger portion comprises a blower configured to blow air towards anobject fastened by the first finger portion.
 8. The robot hand of claim6, further comprising a clipper arranged between the first fingerportion and the second finger portion.
 9. The robot hand of claim 6,wherein the second finger portion is shorter than the first fingerportion.
 10. The robot hand of claim 6, further comprising: a firstadsorption portion on the first side arranged on the first fingerportion; and a second adsorption portion on the second side arranged onthe second finger portion.
 11. The robot hand of claim 10, furthercomprising a third adsorption portion arranged between the first fingerportion and the second finger portion.
 12. The robot hand of claim 1,further comprising: any one or any combination of a first finger portionon the first side connected to the first end link or a second fingerportion on the second side connected to the second end link; and any oneor any combination of a first adsorption portion arranged on the firstfinger portion, a second adsorption portion arranged on the secondfinger portion, and a third adsorption portion arranged between thefirst finger portion and the second finger portion.
 13. The robot handof claim 12, further comprising a controller configured to: recognize anobject; identify whether a finger gripping method is stored in a memoryin association with the object; control the first finger portion to gripthe object when the finger gripping method is stored in the memory inassociation with the object; identify whether an adsorption grippingmethod is stored in the memory in association with the object; andcontrol the first adsorption portion to grip the object when theadsorption gripping method is stored in the memory in association withthe object.
 14. The robot hand of claim 13, wherein the controller isconfigured to: identify whether a combination gripping method is storedin the memory in association with the object; and control any one or anycombination of the first finger portion or the second finger portion togrip the object in combination with any one or any combination of thefirst adsorption portion or the second adsorption portion when thecombination gripping method is stored in the memory in association withthe object.
 15. The robot hand of claim 13, wherein the controller isconfigured to: identify a gripping method is not stored in the memory inassociation with the object; control any one or any combination of anoperation to grip the object with the first finger portion or anoperation to grip the object with the first adsorption portion based onno method of gripping the object being stored in the memory inassociation with the object; register the finger gripping method inassociation with the object in the memory based on the operation to gripthe object with the first finger portion being successful; and registerthe adsorption gripping method in association with the object in thememory based on the operation to grip the object with the firstadsorption portion being successful.
 16. A method of controlling a robothand that includes a first actuator coupled to a first drive gear, asecond actuator coupled to a second drive gear, a first interlocked gearinterlocked with the second drive gear, and a second interlocked gearinterlocked with the first drive gear, the method comprising:identifying a first object; positioning the robot hand with respect tothe first object; controlling a first inner link coupled to the firstdrive gear, a second inner link coupled to the second drive gear, afirst outer link coupled to the first interlocked gear and a secondouter link coupled to the second interlocked gear to perform a closingoperation with respect to the first object by simultaneously operatingthe first actuator and the second actuator; and controlling a first endlink connected to the first inner link and the first outer link, and asecond end link connected to the second inner link and the second outerlink, to be synchronously operated to grip the first object bydeactivating the first actuator and actuating the second actuator. 17.The method of claim 16, wherein a first adsorption portion is providedon a first finger portion connected to the first inner link and thefirst outer link, and a second adsorption portion is provided on asecond finger portion connected to the second inner link and the secondouter link, and wherein the method further comprises: identifying asecond object; positioning the robot hand with respect to the secondobject; identifying a finger gripping method is not associated with thesecond object; identifying an adsorption gripping method is associatedwith the second object; and controlling the first adsorption portion andthe second adsorption portion to grip the second object based on theadsorption gripping method being associated with the second object. 18.The method of claim 17, further comprising: identifying a third object;positioning the robot hand with respect to the third object; identifyingthe finger gripping method is not associated with the third object;identifying the adsorption gripping method is not associated with thethird object; identifying a combination gripping method is associatedwith the third object; and controlling the first end link and the secondend link to be synchronously operated to grip the third object bydeactivating the first actuator, actuating the second actuator, andactivating the first adsorption portion and the second adsorptionportion, based on the combination gripping method being associated withthe third object.
 19. The method of claim 18, further comprising:identifying a fourth object; positioning the robot hand with respect tothe fourth object; identifying the finger gripping method is notassociated with the fourth object; identifying the adsorption grippingmethod is not associated with the fourth object; identifying thecombination gripping method is not associated with the fourth object;controlling the first end link and the second end link to besynchronously operated to grip the fourth object by deactivating thefirst actuator and actuating the second actuator; and associating thefourth object with the finger gripping method based on the first endlink and the second end link gripping the fourth object.
 20. The methodof claim 19, further comprising: identifying a fifth object; positioningthe robot hand with respect to the fifth object; identifying the fingergripping method is not associated with the fifth object; identifying theadsorption gripping method is not associated with the fifth object;identifying the combination gripping method is not associated with thefifth object; first attempting to grip the fifth object by controllingthe first end link and the second end link to be synchronously operatedto by deactivating the first actuator and actuating the second actuator;and identifying the first attempting as unsuccessful; second attemptingto grip the fifth object by controlling the first adsorption portion andthe second adsorption portion to grip the fifth object; and associatingthe fifth object with the adsorption gripping method based on the firstadsorption portion and the second adsorption portion gripping the fifthobject.
 21. A non-transitory computer readable recording medium havingembodied thereon a program, which when executed by a processor causesthe processor to execute a method that controls a robot hand thatincludes a first actuator coupled to a first drive gear, a secondactuator coupled to a second drive gear, a first interlocked gearinterlocked with the second drive gear, and a second interlocked gearinterlocked with the first drive gear, wherein the method includes:identifying a first object; positioning the robot hand with respect tothe first object; controlling a first inner link coupled to the firstdrive gear, a second inner link coupled to the second drive gear, afirst outer link coupled to the first interlocked gear and a secondouter link coupled to the second interlocked gear to perform a closingoperation with respect to the first object by simultaneously operatingthe first actuator and the second actuator; and controlling a first endlink connected to the first inner link and the first outer link, and asecond end link connected to the second inner link and the second outerlink, to be synchronously operated to grip the first object bydeactivating the first actuator and actuating the second actuator.